Add support for extended CRSF RF Modes

src/SCRIPTS/TELEMETRY/iNav.lua

@@ -51,9 +51,14 @@ end
 loadScript(FILE_PATH .. "reset" .. ext, env)(data)
 collectgarbage()
 
-local crsf, distCalc = loadScript(FILE_PATH .. "other" .. ext, env)(config, data, units, getTelemetryId, getTelemetryUnit, FILE_PATH, env, SMLCD)
+local crsf, elrs, distCalc = loadScript(FILE_PATH .. "other" .. ext, env)(config, data, units, getTelemetryId, getTelemetryUnit, FILE_PATH, env, SMLCD)
 collectgarbage()
 
+-- Request device info from CRSF devices (used to detect TBS/ExpressLRS)
+if data.fm_id > -1 then
+	crossfireTelemetryPush(0x28, { 0x00, 0xEA })
+end
+
 local title, gpsDegMin, hdopGraph, icons, rect = loadScript(FILE_PATH .. "func_" .. (HORUS and "h" or "t") .. ext, env)(config, data, modes, dir, SMLCD, FILE_PATH, text, line, rect, fill, frmt, options)
 collectgarbage()
 
@@ -408,7 +413,7 @@ function inav.background()
 	else
 		data.battLow = false
 		data.battPercentPlayed = 100
-		-- Initalize variables on flight reset (uses timer3)
+		-- Initialize variables on flight reset (uses timer3)
 		tmp = model.getTimer(2)
 		if tmp.value == 0 then
 			loadScript(FILE_PATH .. "load" .. ext, env)(config, data, FILE_PATH)
@@ -440,6 +445,13 @@ function inav.background()
 		end
 		data.altMax = math.ceil(data.altMax * (data.alt_unit == 10 and 0.1 or 0.2)) * (data.alt_unit == 10 and 10 or 5)
 	end
+
+	-- Check if we're talking to an ExpressLRS CRSF device
+	if (data.elrs == nil or data.elrs == 0) and data.fm_id > -1 then
+		data.elrs = elrs()
+		collectgarbage()
+	end
+
 	data.bkgd = true
 end
 

src/SCRIPTS/TELEMETRY/iNav/elrs.lua

@@ -0,0 +1,62 @@
+-- Adapted from ELRSv2.lua in ExpressLRS
+
+local deviceId = 0xEE
+
+local function byteToStr(b)
+	-- Translate b into a string from symbolChars if available, else use string.char
+	return symbolChars and symbolChars[b] or string.char(b)
+end
+
+local function fieldGetString(data, offset, last)
+	if last then
+		return fieldStrFF(data, offset, last)
+	end
+
+	local result = ""
+	while data[offset] ~= 0 do
+		result = result .. byteToStr(data[offset])
+		offset = offset + 1
+	end
+
+	return result, offset + 1
+end
+
+local function fieldGetValue(data, offset, size)
+	local result = 0
+	for i=0, size-1 do
+		result = bit32.lshift(result, 8) + data[offset + i]
+	end
+	return result
+end
+
+local function parseDeviceInfoMessage(data)
+	local offset
+	local id = data[2]
+	local devicesName
+	devicesName, offset = fieldGetString(data, 3)
+	if deviceId == id then
+		deviceIsELRS_TX = ((fieldGetValue(data,offset,4) == 0x454C5253) and (deviceId == 0xEE)) or nil -- SerialNumber = 'E L R S' and ID is TX module
+		return deviceIsELRS_TX
+	end
+end
+
+-- Returns 1 if elrs, -1 if TBS, and 0 if unknown
+local function elrs()
+	-- the request for data has already been sent
+	local command, data
+	i = 0
+	-- give up after 50 tries
+	while command ~= 0x29 and i < 50 do
+		command, data = crossfireTelemetryPop()
+		i = i + 1
+	end
+	if command == 0x29 then
+		if parseDeviceInfoMessage(data) then
+			return 1
+		end
+		return -1
+	end
+	return 0
+end
+
+return elrs

src/SCRIPTS/TELEMETRY/iNav/func_h.lua

@@ -59,7 +59,12 @@ local function title()
 	if data.rxBatt > 0 and config[14].v == 1 then
 	   text(LCD_W, 0, frmt("%.1fV", data.rxBatt), data.set_flags(RIGHT, tmp))
 	elseif data.crsf then
-	   text(LCD_W, 0, (data.rfmd == 2 and 150 or (data.telem and 50 or "--")) .. "Hz", data.set_flags(RIGHT,tmp))
+		--if config[35].v == 1 then
+		if data.elrs == 1 then
+			text(LCD_W, 0, (data.rfmd == 8 and 1000 or data.rfmd == 7 and 500 or data.rfmd == 6 and 250 or data.rfmd == 5 and 200 or data.rfmd == 4 and 150 or data.rfmd == 3 and 100 or data.rfmd == 2 and 50 or data.rfmd == 1 and 25 or "--") .. "Hz", data.set_flags(RIGHT, tmp))
+		else
+	   		text(LCD_W, 0, (data.rfmd == 2 and 150 or (data.telem and 50 or "--")) .. "Hz", data.set_flags(RIGHT,tmp))
+		end
 	end
 
 	-- Data on config menu

src/SCRIPTS/TELEMETRY/iNav/func_t.lua

@@ -30,7 +30,11 @@ local function title()
 	if data.rxBatt > 0 and data.telem and config[14].v == 1 then
 		text(LCD_W, 1, frmt("%.1fV", data.rxBatt), SMLSIZE + RIGHT + INVERS)
 	elseif data.crsf then
-		text(LCD_W, 1, (data.rfmd == 2 and 150 or (data.telem and 50 or "--")) .. (SMLCD and "" or "Hz"), SMLSIZE + RIGHT + INVERS)
+		if data.elrs == 1 then
+			text(LCD_W, 1, (data.rfmd == 8 and 1000 or data.rfmd == 7 and 500 or data.rfmd == 6 and 250 or data.rfmd == 5 and 200 or data.rfmd == 4 and 150 or data.rfmd == 3 and 100 or data.rfmd == 2 and 50 or data.rfmd == 1 and 25 or "--") .. (SMLCD and "" or "Hz"), SMLSIZE + RIGHT + INVERS)
+		else
+			text(LCD_W, 1, (data.rfmd == 2 and 150 or (data.telem and 50 or "--")) .. (SMLCD and "" or "Hz"), SMLSIZE + RIGHT + INVERS)
+		end
 	end
 
 	--[[ Show FPS - Should always be 20fps on Taranis

src/SCRIPTS/TELEMETRY/iNav/other.lua

@@ -1,5 +1,6 @@
 local config, data, units, getTelemetryId, getTelemetryUnit, FILE_PATH, env, SMLCD = ...
 local crsf = nil
+local elrs = nil
 
 -- Detect Crossfire
 data.fm_id = getTelemetryId("FM") > -1 and getTelemetryId("FM") or getTelemetryId("PV")
@@ -12,6 +13,7 @@ data.fm_id = getTelemetryId("FM") > -1 and getTelemetryId("FM") or getTelemetryI
 
 if data.fm_id > -1 then
 	crsf = loadScript(FILE_PATH .. "crsf.luac", env)(config, data, getTelemetryId)
+	elrs = loadScript(FILE_PATH .. "elrs.luac", env)()
 	collectgarbage()
 end
 
@@ -91,4 +93,4 @@ if data.dist_id == -1 or data.simu then
 	end
 end
 
-return crsf, distCalc
+return crsf, elrs, distCalc